Allow (~) in the head of a quantified constraints

Since the introduction of quantified constraints, GHC has rejected
a quantified constraint with (~) in the head, thus
  f :: (forall a. blah => a ~ ty) => stuff

I am frankly dubious that this is ever useful.  But /is/ necessary for
Coercible (representation equality version of (~)) and it does no harm
to allow it for (~) as well.  Plus, our users are asking for it
(Trac #15359, #15625).

It was really only excluded by accident, so
this patch lifts the restriction. See TcCanonical
Note [Equality superclasses in quantified constraints]

There are a number of wrinkles:

* If the context of the quantified constraint is empty, we
  can get trouble when we get down to unboxed equality (a ~# b)
  or (a ~R# b), as Trac #15625 showed. This is even more of
  a corner case, but it produced an outright crash, so I elaborated
  the superclass machinery in TcCanonical.makeStrictSuperClasses
  to add a void argument in this case.  See
  Note [Equality superclasses in quantified constraints]

* The restriction on (~) was in TcValidity.checkValidInstHead.
  In lifting the restriction I discovered an old special case for
  (~), namely
      | clas_nm `elem` [ heqTyConName, eqTyConName]
      , nameModule clas_nm /= this_mod
  This was (solely) to support the strange instance
      instance a ~~ b => a ~ b
  in Data.Type.Equality. But happily that is no longer
  with us, since
     commit f265008f
     Refactor (~) to reduce the suerpclass stack
  So I removed the special case.

* I found that the Core invariants on when we could have
       co = <expr>
  were entirely not written down. (Getting this wrong ws
  the proximate source of the crash in Trac #15625.  So

  - Documented them better in CoreSyn
      Note [CoreSyn type and coercion invariant],
  - Modified CoreOpt and CoreLint to match
  - Modified CoreUtils.bindNonRec to match
  - Made MkCore.mkCoreLet use bindNonRec, rather
    than duplicate its logic
  - Made Simplify.rebuildCase case-to-let respect
      Note [CoreSyn type and coercion invariant],